Clausal resolution for linear-time temporal mu-calculus

The temporal mu-calculus is a powerful language which extends
traditional propositional temporal logics with fixpoint operators and
in which properties of a wide range of computational entities may be
succinctly specified. However, while a range of automata-theoretic
techniques concerning temporal mu-calculi have been developed,
more work on efficient deductive methods for such logics is needed.
We show how formulae within linear temporal mu-calculus can be transformed
into a specific normal form whilst preserving satisfiability and
unsatisfiability. This normal form has already served as the basis for a
clausal resolution method for a range of temporal logics (such as PLTL
and CTL) and so our translation now allows us to apply clausal resolution
techniques to the linear-time temporal mu-calculus.